There's no easily accessible way to accurately check the level without specialized tools and knowledge. Improper checking can lead to inaccurate readings and potential damage to the transmission.
To check the transmission fluid condition and level, you should take your 2002 Dodge Intrepid to a qualified mechanic or transmission specialist. They have the proper equipment and expertise to perform this task correctly. They'll likely check the fluid level using a scan tool to determine the condition and if a fluid change is needed.